CN102822537A

CN102822537A - Hybrid operating machine

Info

Publication number: CN102822537A
Application number: CN2011800056459A
Authority: CN
Inventors: 川崎治彦; 江川祐弘
Original assignee: Kayaba Industry Co Ltd
Priority date: 2010-05-20
Filing date: 2011-04-22
Publication date: 2012-12-12
Anticipated expiration: 2031-04-22
Also published as: CN102822537B; KR101286841B1; JP5424982B2; JP2011241948A; DE112011101710T5; US20120233995A1; WO2011145432A1; KR20120053063A; US9032722B2

Abstract

A controller determines whether or not a control valve for controlling the supply of pressure fluid from a main pump to an actuator is at a neutral position, detects input power of a hydraulic motor rotated by return oil from the actuator, and narrows the opening of a proportional electromagnetic throttle valve when the control valve is at the neutral position and the input power of the hydraulic motor is in excess of a first threshold value.

Description

Hybrid working machine

Technical field

The present invention relates to a kind of hybrid working machine that is used to from the regenerant flow of actuator.

Background technique

JP2009-236190A discloses the hybrid working machine of the regenerant flow that utilizes actuator.In this hybrid working machine, between hydraulic motor, be provided with open and close valve as the swing arm cylinder (boom cylinder) of actuator and the usefulness of regenerating.Operating valve at the control actuator turns back under the situation of neutral position, and open and close valve maintains the closed position.

Under the situation that swing arm cylinder in making the running up of high capacity effect promptly stops; When operating valve is switched to the neutral position, open and close valve is switched to closed position; Prevent the out of control of stopper lever cylinder, avoid the above high torque (HT) of absorptivity of motor generator set to be input to motor generator set from hydraulic motor.Thus, prevent following situation: the above high torque (HT) of the absorptivity of motor generator set acts on motor generator set, and motor generator set breaks down or be out of control.

Summary of the invention

Yet, in above-mentioned hybrid working machine in the past, operating valve being turned back under the situation of neutral position sharp in order promptly to stop actuator, the above high torque (HT) of the absorptivity of motor generator set might act on motor generator set.This be because: there is the limit in the responsiveness of open and close valve, is difficult to close open and close valve instantaneously and promptly stops actuator.

In order to improve the absorptivity of motor generator set, also consider motor generator set is maximized, but cost corresponding increase along with maximization.

The objective of the invention is to, in hybrid working machine, under the situation of the actuator in promptly having stopped having the running up of high capacity effect, can stop actuator reliably, avoid the above high torque (HT) of absorptivity to act on motor generator set.

According to a kind of mode of the present invention, a kind of hybrid working machine is provided, it possesses: main pump; Motor, it drives above-mentioned main pump; The variable-displacement service pump, it is connected the discharge side of above-mentioned main pump via the interflow path; The inclination angle controller, it controls the angle of yaw of above-mentioned service pump; The ratio electromagnetic throttle valve, it is arranged on the path of above-mentioned interflow; Actuator; Operating valve, it is controlled from the supply of above-mentioned main pump to the pressure fluid of above-mentioned actuator; The variable-displacement hydraulic motor, it is used to be rotated from the oil that returns of above-mentioned actuator; Motor generator set, it is connected above-mentioned service pump and above-mentioned hydraulic motor; Battery, it is connected above-mentioned motor generator set; And controller; It is connected above-mentioned inclination angle controller and aforementioned proportion electromagnetic throttle valve; Judge whether the aforesaid operations valve is in the neutral position; Detection is used to the input power that returns the above-mentioned hydraulic motor that oil is rotated from above-mentioned actuator, and the input power that is in neutral position and above-mentioned hydraulic motor at the aforesaid operations valve surpasses under the situation of first threshold the aperture of dwindling the aforementioned proportion electromagnetic throttle valve.

According to aforesaid way, surpassed under the situation of first threshold at the input power of hydraulic motor, absorb the input power of hydraulic motor through service pump, therefore can prevent the power more than the motor generator set input absorptivity.

Thereby; Even do not improve the responsiveness of open and close valve or do not make that motor generator set is large-scale to be turned to more than the required degree; Under the situation of the actuator in promptly stopping to have the running up of high capacity effect; Can not make the above high torque (HT) of absorptivity act on motor generator set yet, can stop actuator reliably.

Below, come at length to explain mode of execution of the present invention and advantage of the present invention with reference to accompanying drawing.

Description of drawings

Fig. 1 is the circuit diagram of the related excavator of mode of execution of the present invention (power shovel).

Fig. 2 is the flow chart of expression first control flow.

Fig. 3 is the flow chart of expression second control flow.

Embodiment

Fig. 1 is the circuit diagram of the related excavator of mode of execution of the present invention.Excavator possesses first, second main pump of variable-displacement MP1, MP2.The first main pump MP1 is connected with first circuit system.The second main pump MP2 is connected with second circuit system.

In first circuit system, be linked in sequence from upstream side: operating valve 3, the control preparation of 2 grades of usefulness of swing arm of the operating valve 2 of the operating valve 1 of control rotary motor RM, 1 grade of usefulness of arm of control dipper cylinder (arm cylinder), control swing arm cylinder B C are walked the operating valve 5 with motor with the operating valve 4 and the control left lateral of accessory.

Each operating valve 1 ~ 5 is connected with the first main pump MP1 through neutral stream 6 and IEEE Std parallel highway 7 respectively.

Downstream side on neutral stream 6, operating valve 5 is provided with pilot pressure (pilot pres sure) and generates mechanism 8.If it is many to flow through the flow of pilot pressure generation mechanism 8, then this pilot pressure generates mechanism 8 and generates high pilot pressure, if flow generates low pilot pressure at least.

Under near operating valve 1 ~ 5 all is in neutral position or neutral position the situation, the whole or part guiding jar T of the fluid that neutral stream 6 will be discharged from the first main pump MP1.In this case, the flow that generates mechanism 8 through pilot pressure also becomes many, therefore generates high pilot pressure.

If operating valve 1 ~ 5 switches to the state of full stroke (full stroke), then neutral stream 6 is closed and the circulation of fluid stops.In this case, the flow that flows through pilot pressure generation mechanism 8 almost disappears, and pilot pressure remains zero.

Wherein, according to the operation amount of operating valve 1 ~ 5, the part of pump delivery guiding actuator and a part be from neutral stream 6 guiding jar T, so pilot pressure generates mechanism 8 and generates and the corresponding pilot pressure of flow that flows through neutral stream 6.That is, pilot pressure generates the corresponding pilot pressure of operation amount of mechanism's 8 generations and operating valve 1 ~ 5.

Pilot pressure generates in the mechanism 8 and is connected with guide's stream 9.Guide's stream 9 is connected with the regulator 10 of the angle of yaw of the control first main pump MP 1.Regulator 10 and pilot pressure are controlled the discharge capacity of the first main pump MP1 with being inversely proportional to.Thereby making operating valve 1 ~ 5 be in full stroke under the situation of the mobile vanishing of neutral stream 6, in other words formerly the pilot Lik-Sang becomes under the situation of the pilot pressure vanishing that mechanism 8 produced, and the discharge capacity of the first main pump MP1 remains maximum.

Be connected with first pressure transducer 11 on guide's stream 9.The pressure signal of first pressure transducer 11 is input to controller C.

In second circuit system, be linked in sequence from upstream side: the control right lateral is walked operating valve 14 and the operating valve 15 of controlling 2 grades of usefulness of arm of dipper cylinder of 1 grade of usefulness of swing arm of operating valve 13, the control swing arm cylinder BC of operating valve 12 with motor, control scraper bowl cylinder (bucket cylinder).Operating valve 14 is provided with the sensor 14a of detecting operation direction and operation amount.

Each operating valve 12 ~ 15 is connected with the second main pump MP2 via neutral stream 16.Operating valve 13 is connected with the second main pump MP2 via IEEE Std parallel highway 17 with operating valve 14.

Downstream side on neutral stream 16, operating valve 15 is provided with pilot pressure and generates mechanism 18.Pilot pressure generates mechanism 18 and generates the identical function of mechanism's 8 performances with the pilot pressure of explaining before.

Pilot pressure generates in the mechanism 18 and is connected with guide's stream 19.Guide's stream 19 is connected with the regulator 20 of the angle of yaw of the control second main pump MP2.Regulator 20 and pilot pressure are controlled the discharge capacity of the second main pump MP2 with being inversely proportional to.Making operating valve 12 ~ 15 be in full stroke under the situation of the mobile vanishing of neutral stream 16, in other words formerly the pilot Lik-Sang becomes under the situation of the pilot pressure vanishing that mechanism 18 produced, and the discharge capacity of the second main pump MP2 remains maximum.

Be connected with second pressure transducer 21 on guide's stream 19.The pressure signal of second pressure transducer 21 is input to controller C.

First, second main pump MP1, MP2 utilize the driving force of a motor E to carry out coaxial rotation.

In motor E, be provided with generator (generator) 22.Generator 22 utilizes the residue output of motor E to be rotated and generates electricity.Generator 22 electric power that produces that generates electricity charges into battery 24 through battery charger 23.

Battery charger 23 also can charge into battery 24 with electric power under the situation that is connected to common home-use power supply 25.That is, battery charger 23 also can be connected to other autonomous system power supply.

On the actuator port of the operating valve 1 that is connected with first circuit system, be connected with the

path

26,27 that is communicated with rotary motor RM.On two

paths

26,27, be connected with

brake valve

28,29 respectively.Operating valve 1 is being remained under the situation of neutral position, and actuator port is closed, and rotary motor RM keeps halted state.

When operating valve 1 was switched to some paths, for example path 26 supply pressure fluids were rotated rotary motor RM from a certain square tube road.Returning fluid from rotary motor RM turns back to a jar T through path 27.

Just under the situation of driving rotational motor RM, the function of

brake valve

28 or 29 performance relief valves (relief valve), when

path

26,27 for setting pressure when above

brake valve

28,29 open on high-tension side direct fluid low voltage side.

If under the state that rotary motor RM is rotated, operating valve 1 is turned back to the neutral position, then the actuator port of operating valve 1 is closed.Even the actuator port of operating valve 1 is closed, rotary motor RM also utilizes inertia energy to continue rotation, utilizes inertia energy to be rotated through rotary motor RM, and rotary motor RM plays pumping action.In this case, constitute the closed-loop path, convert inertia energy into heat energy through

brake valve

28 or 29 by

path

26,27, rotary motor RM,

brake valve

28 or 29.

On the other hand, when operating valve 14 is switched to the accompanying drawing right positions from the neutral position, be fed into the piston side room 31 of swing arm cylinder BC via path 30 from the pressure fluid of the second main pump MP2.Returning fluid from bar side room 32 turns back to a jar T via path 33, swing arm cylinder BC elongation.

When operating valve 14 is switched to the accompanying drawing left to the time, be fed into the bar side room 32 of swing arm cylinder BC via path 33 from the pressure fluid of the second main pump MP2.Returning fluid from piston side room 31 turns back to a jar T via path 30, and swing arm cylinder BC shrinks.Operating valve 3 switches with operating valve 14 linkedly.

In the path 30 of piston side room 31 that connects swing arm cylinder BC and operating valve 14, be provided with the proportional electromagnetic valve 34 of controlling aperture through controller C.Proportional electromagnetic valve 34 keeps fully open position under normal state.

The variable-displacement service pump AP of the output of the auxiliary first main pump MP1, MP2 then, is described.

Service pump AP utilizes the driving force by motor generator set MG to be rotated.Through the driving force of motor generator set MG, variable-displacement hydraulic motor AM also carries out coaxial rotation.Be connected with inverter I on the motor generator set MG.Inverter I is connected with controller C, can control rotating speed of motor generator set MG etc. through controller C.

The angle of yaw of service pump AP and hydraulic motor AM is controlled by inclination angle controller 35,36.Control

inclination angle controller

35,36 according to the output signal of controller C.

Be connected with drain passageway 37 on the service pump AP.Drain passageway 37 branches into first interflow path 38 that collaborates with the discharge side of the first main pump MP 1 and the second interflow path 39 that collaborates with the discharge side of the second main pump MP2.On first, second interflow path 38,39, be respectively arranged with first, second ratio

electromagnetic throttle valve

40,41 of controlling aperture according to the output signal of controller C.

Be connected with on the hydraulic motor AM and connect with path 42.Connect with path 42 and be connected to the

path

26,27 that is connected with rotary motor RM with one-way valve (check valve) 44,45 via interflow path 43.In the path 43 of interflow, be provided with the electromagnetic opening and closing valve 46 that carries out open and close controlling through controller C.At electromagnetic opening and closing valve 46 and one-way valve 44, be provided with pressure transducer 47 between 45, pressure when this pressure transducer 47 detects the revolution of rotary motor RM or the pressure when braking.The pressure signal of pressure transducer 47 is input to controller C.

At the interflow path 43, with respect to being provided with safety valve 48 to the mobile position that is positioned at the downstream side of electromagnetic opening and closing valve 46 that connects with path 42 from rotary motor RM.For example in electromagnetic opening and closing valve 46 grades, taken place under the situation of fault, the pressure that safety valve 48 is kept

path

26,27 prevents that rotary motor RM is out of control.

Between swing arm cylinder BC and proportional electromagnetic valve 34, be provided with and be connected the path 49 that is communicated with path 42.In path 49, be provided with the electromagnetic opening and closing valve of controlling through controller C 50.

The effect of this mode of execution then, is described.

When rotary motor RM just switches to the neutral position with operating valve 1 in rotating process, constitute the closed-loop path in 26,27 in path,

brake valve

28 or 29 is kept the retardation pressure of closed-loop path, converts inertia energy into heat energy.

Pressure transducer 47 detects rotation pressure or retardation pressure.Pressure signal is input to controller C.Under the situation of controller C pressure in the scope that detects the revolution that do not influence rotary motor RM or braking maneuver, lower than the setting pressure of

brake valve

28,29, switch electromagnetic opening and closing valve 46.If switched electromagnetic opening and closing valve 46, the pressure fluid that then is directed to rotary motor RM flows through interflow path 43, is fed into hydraulic motor AM via safety valve 48 with being connected with path 42.

As following illustrated, controller C is according to control the angle of yaw of hydraulic motor AM from the pressure signal of pressure transducer 47.

If the pressure of

path

26 or 27 does not remain on revolution action or the required pressure of braking maneuver, then can't make rotary motor RM turn round, perhaps impose braking.

Therefore, for the pressure with

path

26 or 27 remains rotation pressure or retardation pressure, the angle of yaw of controller C control hydraulic motor AM, the load of control rotary motor RM.Specifically, the angle of yaw of controller C control hydraulic motor AM makes by the rotation pressure of pressure transducer 47 detected pressure and rotary motor RM or retardation pressure about equally.

If hydraulic motor AM obtains rotating force, then this rotating force acts on the motor generator set MG that carries out coaxial rotation.The rotating force of hydraulic motor AM works as the auxiliary force that is directed against motor generator set MG.Thereby, can make the consumes electric power minimizing of motor generator set MG and the suitable amount of rotating force of hydraulic motor AM.

Also can come with the rotating force of hydraulic motor AM the rotating force of service pump AP is assisted.

Then, handover operation valve 14 and control the situation of swing arm cylinder BC with the operating valve 3 of its interlock is described.

When handover operation valve 14 and during, utilize the direction of operating and the operation amount of sensor 14a detecting operation valve 14 with the operating valve 3 of its interlock for swing arm cylinder BC is moved.Operation signal is input to controller C.

According to the operation signal of sensor 14a, controller C decision operation person will make swing arm cylinder BC rise or decline.If the signal that is used to swing arm cylinder B C is risen is input to controller C, then controller C remains normal state with proportional electromagnetic valve 34.In other words, proportional electromagnetic valve 34 is remained on fully open position.In this case, in order to ensure the discharge capacity of discharging regulation from service pump AP, controller C makes electromagnetic opening and closing valve 50 remain on illustrated closed position, and controls the rotating speed of motor generator set MG, the angle of yaw of service pump AP.

When the signal that is used to make swing arm cylinder BC to descend when sensor 14a is input to controller C; Controller C comes the rate of descent of the desired swing arm cylinder of arithmetic operation person BC according to the operation amount of operating valve 14; Close proportional electromagnetic valve 34, electromagnetic opening and closing valve 50 is switched to open position.

If close proportional electromagnetic valve 34 and electromagnetic opening and closing valve 50 is switched to open position, then the full dose of the Returning fluid of swing arm cylinder BC is fed into hydraulic motor AM.But, if the flow that hydraulic motor AM is consumed less than keeping the required flow of the desired rate of descent of operator, then swing arm cylinder BC can't keep the desired rate of descent of operator.In this case; Controller C waits the aperture of control ratio solenoid valve 34 to make the flow more than the flow that is consumed by hydraulic motor AM turn back to a jar T according to the rotating speed of the angle of yaw of the operation amount of operating valve 14, hydraulic motor AM, motor generator set MG, to keep the rate of descent of the desired swing arm cylinder of operator BC.

When hydraulic motor AM supplies with fluid, hydraulic motor AM is rotated.The rotating force of hydraulic motor AM acts on the motor generator set MG that carries out coaxial rotation.The rotating force of hydraulic motor AM works as the auxiliary force that is directed against motor generator set MG.Thereby, can make consumes electric power reduce the suitable amount of rotating force with hydraulic motor AM.

With hydraulic motor AM as driving source and with motor generator set MG as under the situation of generator, the angle of yaw of service pump AP is made as zero forms almost no-load condition, and hydraulic motor AM is kept make the required output of motor generator set MG rotation.Thus, utilize the output of hydraulic motor AM, can make motor generator set MG performance electricity generate function.

Be provided with one-

way valve

51,52 in the downstream side of first, second ratio electromagnetic throttle valve 40,41.One-

way valve

51,52 only allows from service pump AP logical to first, second main pump MP1, MP2 effluent.

Controller C keeps watch on the size of the input power (power of inlet side) of hydraulic motor AM all the time.Calculate the method for the size of power and for example consider following three kinds.

(1) utilizing the generation driving force of motor generator set is that electric current * voltage carries out Calculation Method.

(2) according to the angle of yaw of hydraulic motor AM and the revolution speed calculating flow of motor generator set MG, the inlet pressure that this flow multiply by hydraulic motor AM is carried out Calculation Method.

(3) dynamic characteristic of hydraulic motor AM is carried out the angle of yaw that mathematical modelization is estimated hydraulic motor AM, come calculated flow rate according to angle of yaw and based on the rotating speed of motor generator set MG, the inlet pressure that flow multiply by hydraulic motor AM is carried out Calculation Method.

Also can use except above three kinds of any computational methods the computational methods.No matter which kind of method of employing, controller C keeps watch on the input power of hydraulic motor AM.

Controller C keeps watch on the input power of hydraulic motor AM, according to the signal from the sensor that is arranged at operating valve 1 ~ 5,12 ~ 15, checks whether these whole operating valves 1 ~ 5,12 ~ 15 maintain a neutral position.

For example under the situation that stops swing arm cylinder B C, the operator makes

operating valve

3,14 turn back to the neutral position.In this case, controller C is according to closing electromagnetic opening and closing valve 50 from the signal of sensor.

Under the situation that promptly stops swing arm cylinder B C, when making

operating valve

3,14 turn back to the neutral position, must instantaneously close electromagnetic opening and closing valve 50, but there is the limit in the responsiveness of electromagnetic opening and closing valve 50,, electromagnetic opening and closing valve 50 produces operating lag when closing.

If swing arm cylinder BC carries out the high capacity action, then when in electromagnetic opening and closing valve 50, producing operating lag, the big power of this moment is input to hydraulic motor AM.Controller C carries out computing to the input power of this moment, judges whether this operation result surpasses predefined first threshold ε 1.Then, controller C carries out and flow chart control corresponding shown in Figure 2 according to judged result.

That is, when beginning mixed power control (step S 1), controller C judges all operating valves 1 ~ 5,12 ~ 15 whether maintain a neutral position (step S2).If the some operating valves in the operating valve 1 ~ 5,12 ~ 15 are in the switching position beyond the neutral position, then the common required command signal (step S 3) of mixed power control is carried out in controller C output.

Under the situation that all operating valves 1 ~ 5,12 ~ 15 maintain a neutral position, the input power PL (step S4) of computing hydraulic motor AM judges that whether input power PL is greater than first threshold ε 1 (step S 5).

If input power PL then is judged as the situation that promptly stops swing arm cylinder BC that is not in less than first threshold ε 1, controller C turns back to step S3.

But,, transfer to step S6 if input power PL then is judged as the swing arm cylinder BC that has promptly stopped carrying out the high capacity action greater than first threshold ε 1.

In step S6, the angle of yaw controller 35 of controller C control service pump AP increases the angle of yaw of service pump AP, increases the discharge capacity of each commentaries on classics.And controller C reduces the aperture of first, second ratio electromagnetic throttle valve 40,41.Thereby, increasing the discharge capacity of each commentaries on classics from service pump AP, it is through first, second ratio

electromagnetic throttle valve

40,41, so pressure loss increase, and pressure loss amount is as the braking force that is directed against hydraulic motor AM and bring into play function.

Judge whether that through step S2 all operating valves 1 ~ 5,12 ~ 15 are in the neutral position and are based on following reason.For example, remain at some operating valves under the situation of the switching position beyond the neutral position, the actuator that is connected in this operating valve is moved, perhaps the load of this actuator acts on service pump AP.Thereby, under the situation that promptly stops swing arm cylinder BC, also can absorb the input power of hydraulic motor AM by the load that acts on service pump AP.Therefore, only all be under the situation of neutral position the control shown in the execution in step S6 at all operating valves 1 ~ 5, operating valve 12 ~ 15.

Thereby, for example under the situation of hoist (crane), there is one as long as be used to carry out the operating valve of extension and contraction control, therefore as long as judge whether this operating valve is in the neutral position.

In the above-described embodiment; Carry out the control of aperture of control and first, second ratio

electromagnetic throttle valve

40,41 of the angle of yaw of service pump AP simultaneously; But also can be on one side the angle of yaw of service pump AP be remained to a certain degree, Yi Bian control the aperture of first, second ratio

electromagnetic throttle valve

40,41.

In step S5 shown in Figure 2, even the input power PL of hydraulic motor AM less than first threshold ε 1, under the situation that input power PL does not still become fully little behind the transit time t1, also can be judged as swing arm cylinder BC and be in unusual state.

In this case, as long as carry out control, just can stop swing arm cylinder BC reliably based on flow chart shown in Figure 3.

In control mode shown in Figure 3, step S1 ~ S6 is identical with the situation of Fig. 2.

In step S5, though the input power PL of hydraulic motor AM less than first threshold ε 1, controller C judges at predefined time t 1 back input power PL whether become less than second threshold epsilon 2 through step S 7.First threshold, second threshold value are ε 1>relation of ε 2.

If input power PL becomes less than second threshold epsilon 2 in step S 7, then controller C is judged as and has fully absorbed input power PL, turns back to step S3, carries out common mixed power control.

But if input power PL is greater than second threshold epsilon 2 in step S7, then controller C is judged as does not have fully absorption to come the input power PL of robot arm cylinder BC and be in unusual state, transfers to step S8.

In step S8, controller C control inclination angle controller 35 makes the angle of yaw of service pump AP become maximum, makes the discharge capacity of each commentaries on classics become maximum.Close first, second ratio

electromagnetic throttle valve

40,41 simultaneously.

Thus, swing arm cylinder BC stops reliably, removes unusual state.

In the above-described embodiment, be controlled to be example with the regenerative power of swing arm cylinder BC and be illustrated, also the situation with swing arm cylinder BC is identical but control the situation of regenerative power of rotary motor RM.

That is, under the situation that has promptly stopped rotary motor RM, make operating valve 1 turn back to the neutral position, and close electromagnetic opening and closing valve 46.There is the limit in the responsiveness of the electromagnetic opening and closing valve 46 of this moment, so the input power of hydraulic motor AM becomes the size above the absorptivity of motor generator set MG.

In this case, controller C also carries out the control based on Fig. 2, the flow chart shown in 3.

More than, mode of execution of the present invention has been described, but the above-mentioned mode of execution part of application examples of the present invention only, rather than technical scope of the present invention has been defined as the meaning of above-mentioned mode of execution particularly.

The application's requirement is enrolled this specification with all the elements of this application through reference based on the preference that the spy who applied for to Japan Patent office on May 20th, 2010 is willing to 2010-116604 number.

Utilizability on the industry

The present invention can be used in hybrid working machines such as hybrid excavator.

Claims

1. hybrid working machine possesses:

Main pump;

Motor, it drives above-mentioned main pump;

The variable-displacement service pump, it is connected the discharge side of above-mentioned main pump via the interflow path;

The inclination angle controller, it controls the angle of yaw of above-mentioned service pump;

The ratio electromagnetic throttle valve, it is arranged on the path of above-mentioned interflow;

Actuator;

Operating valve, it is controlled from the supply of above-mentioned main pump to the pressure fluid of above-mentioned actuator;

The variable-displacement hydraulic motor, it is used to be rotated from the oil that returns of above-mentioned actuator;

Motor generator set, it is connected above-mentioned service pump and above-mentioned hydraulic motor;

Battery, it is connected above-mentioned motor generator set; And

Controller; It is connected above-mentioned inclination angle controller and aforementioned proportion electromagnetic throttle valve; Judge whether the aforesaid operations valve is in the neutral position; Detection is used to the input power that returns the above-mentioned hydraulic motor that oil is rotated from above-mentioned actuator, and the input power that is in neutral position and above-mentioned hydraulic motor at the aforesaid operations valve surpasses under the situation of first threshold the aperture of dwindling the aforementioned proportion electromagnetic throttle valve.

2. hybrid working machine according to claim 1 is characterized in that,

Input power at above-mentioned hydraulic motor surpasses under the situation of above-mentioned first threshold, and above-mentioned controller dwindles the aperture of aforementioned proportion electromagnetic throttle valve, and controls the angle of yaw that above-mentioned inclination angle controller increases above-mentioned service pump.

3. hybrid working machine according to claim 1 is characterized in that,

Surpassing under the situation of the second little threshold value to the power of above-mentioned hydraulic motor input after through set time after the aperture of dwindling the aforementioned proportion electromagnetic throttle valve than above-mentioned first threshold; Above-mentioned controller is controlled above-mentioned inclination angle controller makes the angle of yaw of above-mentioned service pump maximum, and closes the aforementioned proportion electromagnetic throttle valve.